/*
 * EnterDoorBehavior.hh
 *
 *  Created on: Jun 29, 2010
 *      Author: Mirco Golutti
 *      Author: Lorenzo Racchetti
 */

#ifndef ENTERDOORBEHAVIOR_HH_
#define ENTERDOORBEHAVIOR_HH_

#include "BehaviorUnsafe.hh"
#include "Laser.hh"
#include "la2d.h"
#include "line.h"
#include <iostream>
#include <list>
#include "ConfigFile.h"

// Navigate in the arena and go towards goals
class EnterDoorBehavior: public BehaviorUnsafe {

public:

	///Costructor
	EnterDoorBehavior(const sense::State&, const sense::Environment&,
			sense::Command&, std::string = "");

	virtual ~EnterDoorBehavior();


	// Find if there is a corridor from where the robot can escape
	void collisionAvoid();

protected:
	void actUnsafe();


};

#endif /* ENTERDOORBEHAVIOR_HH_ */
